Urban small item logistics automated distribution system

Abstract

This invention discloses an automated urban parcel delivery system, comprising: an outdoor delivery subsystem, including conveying pipelines laid between buildings and transport vehicles capable of autonomous driving within the conveying pipelines; an indoor delivery subsystem, located within the target building, for vertical and horizontal transfer of goods within the building; and an internet communication support subsystem, communicatively connected to both the outdoor and indoor delivery subsystems. This invention, through a complete technical solution consisting of an outdoor pipeline transportation system, an indoor vertical transfer system, and a central intelligent dispatch system, achieves fully automated operation from pickup at the dispatch point to delivery at the final receiving point; eliminating reliance on a large number of delivery personnel and significantly reducing long-term labor costs at the source.

Description

Technical Field

[0001] This invention relates to the field of distribution system technology, specifically to an automated distribution system for small parcels in urban areas. Background Technology

[0002] With the rapid development of e-commerce and local life services, the demand for small-item logistics and delivery such as express delivery and food delivery has exploded.

[0003] However, the "last mile" delivery of small parcels within cities still primarily relies on traditional methods such as human-powered electric vehicles and electric tricycles. This model has many inherent drawbacks: (1) High labor costs: It relies heavily on a large delivery team. As labor costs continue to rise, overall operating costs continue to increase.

[0004] (2) Limited efficiency and timeliness: Delivery efficiency is subject to the rider's personal condition, traffic conditions and weather conditions. Especially during peak hours or in bad weather, the delivery capacity is unstable and can easily cause delays.

[0005] (3) Significant safety risks: Delivery personnel face high traffic safety risks as they travel on city roads. Severe weather such as rain and snow further exacerbate these safety hazards.

[0006] (4) Service experience needs improvement: Delivery can usually only reach the fixed pick-up point in the community or building, and cannot be delivered directly to the indoor location specified by the user. It cannot achieve true "door-to-door" service, and users have difficulty tracking the location of goods in real time.

[0007] While automation technology has been applied in other logistics sectors, existing technologies have yet to provide a complete solution for fully automated, efficient, and intelligent small-parcel delivery scenarios within cities, which are characterized by complexity, dispersion, and high frequency. Therefore, developing an automated delivery system that overcomes these shortcomings and enables 24 / 7, precise door-to-door delivery with full traceability has become an urgent technological need for the industry. Summary of the Invention

[0008] To solve the above-mentioned technical problems, the technical solution provided by the present invention is: an automated urban small parcel logistics delivery system, comprising: An outdoor delivery subsystem includes delivery pipes laid between buildings and transport vehicles capable of autonomous driving within the delivery pipes; An indoor delivery subsystem, located within the target building, is used for the vertical and horizontal transfer of goods within the building. An internet communication support subsystem is communicatively connected to both the outdoor delivery subsystem and the indoor delivery subsystem. The Internet communication support subsystem is configured to: receive delivery orders, plan the transportation route from the starting building to the destination building for the transport vehicle based on the order information, and control the outdoor delivery subsystem and the indoor delivery subsystem to work together to complete the fully automated delivery of goods from the pickup point in the starting building to the final receiving point in the destination building. The transport vehicle is equipped with an image acquisition device, a power battery, and a control system. It can drive automatically within the pipeline according to the path information planned by the Internet communication support system, and receive instructions from the communication facilities to enter the buffer zone or go straight when passing through pipeline nodes. The inner wall of the delivery pipeline is equipped with radio frequency identification (RFID) tags or visual marking codes for vehicle visual navigation; the standard carrier of the transport vehicle is a standardized delivery box that can be magnetically attracted.

[0009] The advantages of this invention compared to the prior art are: (1) The present invention achieves unmanned operation of the entire process from picking up goods at the dispatch point to delivery at the final receiving point through a complete technical solution consisting of an outdoor pipeline transportation system, an indoor vertical transfer system and a central intelligent dispatch system; it gets rid of the dependence on a large number of delivery personnel and can significantly reduce the labor costs in long-term operation from the root.

[0010] (2) The system operates based on the pipeline network and is not affected by external traffic congestion or weather changes, which can ensure the stability and reliability of delivery timeliness. More importantly, the system can operate 24 hours a day without interruption, making full use of off-peak periods such as nighttime for delivery, thereby improving the overall utilization efficiency and throughput capacity of the logistics network.

[0011] (3) The present invention innovatively extends the delivery end to the interior of the building. Through a sophisticated indoor subsystem, goods can be delivered directly to the indoor receiving box designated by the user. Users no longer need to go to the community station or the garage downstairs to pick up the goods, which improves convenience.

[0012] (4) Based on the Internet communication support subsystem, the present invention achieves a high degree of intelligence in the entire delivery process. The central dispatch platform can perform optimal track scheduling and route planning based on real-time data; at the same time, users can view the transportation location of goods in real time and accurately through a mobile APP, and receive notifications immediately after delivery, thereby improving service transparency and user experience.

[0013] (5) This invention achieves seamless and precise connection between indoor and outdoor subsystems through standardized delivery boxes, electromagnetic gripping devices, RFID / visual positioning and other technologies. The transport vehicle drives automatically in the dedicated pipeline, avoiding safety risks on public roads, and the entire system operates stably and safely. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the cargo transfer system in this invention.

[0015] Figure 2 This is a schematic diagram of the interior of the transport vehicle in this invention.

[0016] Figure 3 This is a schematic diagram of the loading and unloading platform in this invention.

[0017] Figure 4 This is a system flowchart of the present invention.

[0018] Figure 5 This is a flowchart of the cargo grabbing system in this invention. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0020] In the description of the embodiments of the present invention, it should be noted that if terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, terms such as "first," "second," and "third" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0021] Furthermore, the use of terms such as "horizontal," "vertical," and "sag" does not imply that the component must be absolutely horizontal or suspended, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0022] In the description of the embodiments of the present invention, "multiple" means at least two.

[0023] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0024] Example: This embodiment discloses an automated delivery system for small parcels in urban areas and a delivery method based on the system, aiming to achieve fully automated, efficient, and intelligent delivery of small parcels in urban areas, and solve problems such as high cost, significant safety hazards, and significant environmental impact of existing manual delivery methods.

[0025] Specifically, this system includes: The outdoor delivery subsystem includes: delivery pipeline 100, communication facilities, and transport vehicles 200; The pipeline 100 is made of high-strength, corrosion-resistant material. The pipeline is sized to match the transport vehicle 200. Navigation markings are set along the length of the pipeline's inner wall. A dual navigation scheme of RFID tags and visual marker codes is adopted. The RFID tags are ultra-high frequency passive tags with built-in data such as pipeline location coordinates, direction, and node information. The visual marker codes are high-contrast QR codes printed next to the RFID tags as a backup navigation scheme, suitable for visual recognition in complex environments. In addition, communication facilities and buffer zones are set at node locations such as pipeline intersections, branch intersections, and building connections. The communication infrastructure adopts a dual-mode communication architecture that combines 5G base stations and LoRa gateways. The 5G base stations ensure high-speed, low-latency data transmission, while the LoRa gateways provide wide coverage and low-power signal coverage to ensure that there are no communication dead zones throughout the pipeline.

[0026] The transport vehicle 200 can use a lightweight aluminum alloy frame and can be equipped with a high-definition color camera and infrared sensors to support visual marker recognition and obstacle detection in day / night environments. The power battery uses lithium iron phosphate batteries and has overcharge, over-discharge, and short-circuit protection functions. The control system uses an STM32H7 series embedded MCU, which integrates autonomous driving algorithms and supports real-time data interaction with the Internet communication support subsystem. In addition, the transport vehicle 200 has a built-in UWB positioning chip and GPS dual-mode positioning to ensure accurate navigation and node docking within the pipeline.

[0027] The transport vehicle 200 has a sealed cargo box 201 with an electrically folding opening and closing door 202 on the top. A hydraulic scissor lift device 203 is installed at the bottom of the cargo box, which can push the standard delivery box 300 out of the door. The standard delivery box 300 is a standardized carrier that can be magnetically attached. It is made of galvanized iron sheet and has an RFID chip built in.

[0028] The indoor delivery subsystem includes: a vertical transport device 400 and a cargo gripping and placing device 500; The guide rail 401 of the vertical transport device 400 is made of high-strength aluminum alloy and its length is adapted to the building floor height; the lifting mechanism 402 adopts an electric slide rail-slider mechanism; a UWB positioning module and an RFID reader are installed on the lifting mechanism 402 to ensure accurate docking with the transport vehicle 200.

[0029] The main body of the cargo gripping and placing device 500 is an electromagnetic chuck 501, which is fixed to the front end of the lifting mechanism 402. The adsorption surface is provided with an anti-slip rubber pad to prevent the delivery box from slipping. The electromagnetic chuck 501 is connected to an electric push rod 502 at the rear to form a pushing mechanism, which is used to push the delivery box into the indoor preset receiving box. The electromagnetic chuck 501 integrates a pressure sensor. When it detects that the delivery box is adsorbed in place, it sends a feedback signal to the control system to trigger the lifting or pushing action.

[0030] It also includes a loading and unloading platform 600, which is set on the floor of the picking point or receiving point of the building; a receiving box 700 is driven to rotate by a rotary motor on the loading and unloading platform 600. The receiving box 700 is circumferentially divided into several receiving grids 701. A picking position 800 is set on one side of the loading and unloading platform 600. An infrared sensor 702 and a position sensor 703 are set in the receiving grids 701. The receiving box 700 is configured such that when the infrared sensor 702 in the receiving grid 701 senses that there is goods in the current receiving grid 701, the current receiving grid 701 rotates to the picking position 800 under the drive of the rotary motor. The Internet communication support subsystem includes: a server and a control platform for pipeline transport vehicles 200; The server uses an industrial-grade server and supports edge computing; its communication module integrates a 5G industrial module and a LoRa gateway to establish a two-way data link with the communication equipment of the outdoor and indoor subsystems; its positioning facilities consist of UWB positioning base stations and positioning tags to ensure real-time tracking of the target location.

[0031] The pipeline transport vehicle 200 control platform includes an order processing module, a vehicle dispatching module, a route planning module, and a collaborative control module; The order processing module is used to parse order information, including the coordinates of the pickup point pipeline, the coordinates of the receiving point pipeline, the size / weight of the goods, and the delivery time requirements; and to verify the validity of the order, such as whether the size of the goods is compatible with the delivery box and whether the receiving point has been equipped with a receiving box. The vehicle scheduling module is based on a mixed integer programming model, with the optimization objective being "shortest delivery time + lowest energy consumption"; The route planning module is used to dynamically plan the optimal route to avoid congested sections; the route planning results include information such as pipeline node sequence, turning instructions, and stop location coordinates. Collaborative control module: Real-time synchronization of the status of outdoor transport vehicle 200 and indoor delivery subsystem, sending collaborative control commands to ensure seamless connection between pickup and delivery actions.

[0032] I. Specific Implementation Steps of the Automated Delivery Method in this Embodiment Step S1: Receive delivery order (1.1) Users fill in delivery information through the APP: pickup address, delivery address, type of goods, whether expedited, etc.; (1.2) After an order is submitted, the APP will encrypt and upload the order data to the control platform of the Internet communication support subsystem; (1.3) After the control platform verifies that the order information is correct, it generates a unique order number and sends a "order accepted" message to the user's APP.

[0033] Step S2: Plan the transport route and assign 200 transport vehicles (2.1) Parsing orders and obtaining status information The control platform parses order data and extracts the pipeline network coordinates of pickup and delivery points; at the same time, it obtains real-time status information through sensors and positioning facilities: ① the location, status, remaining power, and current load of all 200 transport vehicles; ② the traffic density of each pipeline section and whether there are any faults.

[0034] (2.2) Screening 200 target transport vehicles The control platform runs a vehicle scheduling algorithm to select vehicles that meet the constraints from the set of available vehicles: For example: a. The pickup point coordinates are (X1, Y1), and the location coordinates of the available transport vehicle C are (X2, Y2). The straight-line distance is the shortest. b. The remaining battery power of transport vehicle C is 15Ah, and the energy consumption for this transport is calculated to be 10Ah, which meets the battery constraint. c. There was no congestion on the way to the pickup point for transport vehicle C; d. The algorithm identifies transport vehicle C as the target transport vehicle 200 and marks its status as "task to be executed".

[0035] (2.3) Planning the optimal transport path The control platform runs an improved algorithm that, based on the coordinates of the pickup point (X1, Y1) and the receiving point (X3, Y3), combined with pipeline network topology data and congestion coefficients, plans the optimal path: The path planning results include the travel speed of each pipeline segment, node turning commands, and stopping position coordinates, and are sent to the control system of transport vehicle C.

[0036] (2.4) Issuing task instructions The control platform sends a task instruction to the target transport vehicle C, which includes information such as the order number, optimal route data, pickup point coordinates, delivery point coordinates, and delivery box ID. After receiving the instruction, transport vehicle C replies "Instruction received" and prepares to start the transport.

[0037] Step S3: Transport vehicle 200 drives automatically to the starting building. (3.1) The control system of transport vehicle C navigates based on the received path data, combined with the RFID tags and visual markers on the inner wall of the pipeline: (3.2) The image acquisition device identifies the visual tag code in real time, and the RFID reader reads the location information in the tag. The data is then fused with the data from its own positioning module to adjust the driving direction and speed to ensure that the vehicle travels along the planned path. (3.3) Transport vehicle C drives to the designated location on the pipeline outside the pickup point building, and accurately stops using the UWB positioning module. After completion, it sends a "stopped at pickup point" message to the control platform.

[0038] Step S4: Loading goods at the pickup point (4.1) Preparation for the transition After receiving the vehicle parking signal, the control platform sends a "start pickup" command to the indoor delivery subsystem at the pickup point. The command includes the vehicle parking coordinates and the delivery box ID. The vertical transportation device 400 of the indoor subsystem is activated, and the lifting mechanism 402 descends along the guide rail 401, calibrating the position through UWB positioning and RFID reader.

[0039] (4.2) Delivery box extends The control system of transport vehicle C receives instructions from the control platform and activates the top electric folding box door. After the box door is fully opened, the bottom hydraulic lifting device 203 pushes the standard delivery box 300 out of the box door, exposing the top suction surface of the delivery box to the cargo gripping device 500.

[0040] (4.3) Adsorption and Lifting When the cargo gripping and placing device 500 of the indoor subsystem is powered on, it generates magnetic attraction to the delivery box; the lifting mechanism 402 rises along the guide rail 401, transporting the delivery box to the loading and unloading platform height at the pickup point, where it stops and locks.

[0041] (4.4) Loading and returning cargo The delivery operator places the goods into the delivery box. After confirming that the loading is correct, the operator sends a "loading complete" signal through the confirmation button on the loading and unloading platform. The lifting mechanism 402 restarts and descends to the parking position of the transport vehicle C. The electromagnetic chuck 501 is de-energized and releases the delivery box. The lifting device 203 descends and resets, and the delivery box returns to the cargo box 201 of the transport vehicle C. The cargo box door of the transport vehicle C closes, and a "goods pickup complete" message is sent to the control platform.

[0042] Step S5: The transport vehicle carrying 200 goods drives automatically to the destination building. After receiving the "pickup complete" instruction, transport vehicle C continues to drive automatically in the pipeline according to the optimal path planned by the control platform, and the process is the same as step S3. During the journey, the control platform monitors the vehicle's position, remaining battery power, and pipeline traffic status in real time. If a sudden congestion or malfunction occurs, the platform dynamically adjusts the path and issues new instructions. When transport vehicle C arrives at the designated location on the pipeline outside the receiving point building, it stops precisely and sends a "stopped at receiving point" message back to the control platform.

[0043] Step S6: Unload and deliver the goods at the receiving point. (6.1) After the transport vehicle stops at the corresponding pipeline position of the loading and unloading platform of the terminal building and completes precise positioning, the opening and closing box door on the top of its box is opened; wherein the loading and unloading platform is set on the receiving point floor of the terminal building, and the loading and unloading platform is equipped with a receiving box that is driven to rotate circumferentially by a rotary motor. The receiving box is circumferentially divided into several receiving compartments, and each receiving compartment is equipped with an infrared sensor and a position sensor. A fixed picking position is set on one side of the loading and unloading platform. (6.2) The lifting device at the bottom of the transport vehicle lifts the standard delivery box carrying the goods upward, so that it extends out of the opening and closing box door; (6.3) The cargo gripping and placing device on the vertical transport device moves to a position that contacts the standard delivery box and is powered on, using magnetic force to attract the standard delivery box; (6.4) The cargo grabbing and placing device carries the standard delivery box up along the guide rail of the vertical transport device and moves to the preset receiving position of the loading and unloading platform; (6.5) The loading and unloading platform detects the storage status of goods in each receiving grid in real time through the position sensor in the receiving grid, locks the empty target receiving grid, and drives the receiving box to rotate circumferentially according to the signal of the position sensor, so as to rotate the empty target receiving grid to the receiving position directly opposite the goods grabbing and placing device. (6.6) The pushing mechanism of the cargo gripping and releasing device pushes the standard delivery box into the target receiving cell of the docking position, and then the cargo gripping and releasing device is powered off to release the standard delivery box and reset to the standby position; (6.7) When the infrared sensor in the target receiving cell senses that a standard delivery box carrying goods has been stored in the current cell, and simultaneously confirms that the standard delivery box is in place through the position sensor, a goods storage completion signal is generated and sent to the control unit of the rotary motor. (6.8) The rotary motor drives the receiving box to rotate circumferentially according to the cargo storage completion signal, and rotates the target receiving grid containing the cargo to the preset picking position on one side of the loading and unloading platform; (6.9) After the indoor delivery subsystem confirms that the target receiving grid has been accurately positioned for picking up goods, it sends an unloading completion signal to the Internet communication support subsystem.

[0044] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.

Claims

1. An automated delivery system for small parcels in urban areas, characterized in that, include: An outdoor delivery subsystem includes delivery pipes laid between buildings and transport vehicles capable of autonomous driving within the delivery pipes; An indoor delivery subsystem, located within the target building, is used for the vertical and horizontal transfer of goods within the building. An internet communication support subsystem is communicatively connected to both the outdoor delivery subsystem and the indoor delivery subsystem. The Internet communication support subsystem is configured to: receive delivery orders, plan the transportation route from the starting building to the destination building for the transport vehicle based on the order information, and control the outdoor delivery subsystem and the indoor delivery subsystem to work together to complete the fully automated delivery of goods from the pickup point in the starting building to the final receiving point in the destination building. The transport vehicle is equipped with an image acquisition device, a power battery, and a control system. It can drive automatically within the pipeline according to the path information planned by the Internet communication support system, and receive instructions from the communication facilities to enter the buffer zone or go straight when passing through pipeline nodes. The inner wall of the delivery pipeline is equipped with radio frequency identification (RFID) tags or visual marking codes for vehicle visual navigation; the standard carrier of the transport vehicle is a standardized delivery box that can be magnetically attracted.

2. The automated urban small-parcel logistics delivery system as described in claim 1, characterized in that, The indoor delivery subsystem includes: A vertical transport device, including guide rails and a lifting mechanism that can move up and down along the guide rails; A cargo gripping and releasing device, mounted on the lifting mechanism, is used to grip and release standard delivery boxes; A loading and unloading platform is set up on the floor of the picking or receiving point of a building. A receiving box is driven to rotate by a rotary motor on the loading and unloading platform. The receiving box is divided into several receiving compartments on its circumference. A picking position is set on one side of the loading and unloading platform. An infrared sensor and a position sensor are set in the receiving compartment. The receiving box is configured such that when the infrared sensor in the receiving compartment senses that there is goods in the current receiving compartment, the current receiving compartment rotates to the picking position under the drive of the rotary motor. The vertical transport device and transport vehicle are equipped with readers or sensors that read RFID tags or visual marker codes. The Internet communication support subsystem controls the vertical transport device to precisely locate and connect with the transport vehicle parked in the pipeline outside the building through the positioning facility.

3. The automated urban small-parcel logistics delivery system as described in claim 2, characterized in that, The cargo gripping and placing device is an electromagnet, and the standard delivery box is made of a material that can be magnetically attracted; the cargo gripping and placing device also includes a pushing mechanism connected to the electromagnet, used to push the standard delivery box into a pre-set receiving box inside the building.

4. The automated urban small-parcel logistics delivery system as described in claim 2, characterized in that, The standard delivery box is installed inside the cargo compartment of the transport vehicle. The top of the cargo compartment is equipped with an opening and closing door, and the bottom of the cargo compartment is equipped with a lifting device that extends the standard delivery box out through the opening and closing door. The Internet communication support subsystem controls the opening and closing of the box door, so that the standard delivery box extends out of the vehicle box and is attracted to the cargo gripping device.

5. The automated urban small-parcel logistics delivery system as described in claim 1, characterized in that, The Internet communication support subsystem includes a pipeline transport vehicle control platform, which is configured to: Receive delivery order information; Based on the topology data of the pipeline network and the real-time status and location data of all transport vehicles, a vehicle scheduling algorithm is used to determine a target transport vehicle from the idle vehicles. The optimization objectives of the vehicle scheduling algorithm include at least one of the following: the distance between the vehicle and the order pickup point, the remaining battery power of the vehicle, and the real-time congestion status of each segment of the pipeline network. Based on the locations of the pickup and delivery points of the delivery order, an optimal transportation route is calculated for the target transport vehicle in the pipeline network map using a path planning algorithm. The delivery task and the optimal delivery route are sent to the control system of the target transport vehicle.

6. A method for automated delivery of small parcels in urban areas based on the system described in any one of claims 1-5, characterized in that, Includes the following steps: Step S1: The Internet communication support subsystem receives delivery orders; Step S2: The Internet communication support subsystem plans the delivery route and assigns idle transport vehicles to perform the task based on the order information; Step S3: The transport vehicle automatically drives to the starting building according to the planned route within the pipeline of the outdoor delivery subsystem; Step S4: The transport vehicle is precisely positioned and connected with the indoor delivery subsystem of the starting building, and the indoor delivery subsystem loads the goods from the pickup point onto the transport vehicle; Step S5: After the transport vehicle is loaded with goods, it continues to drive automatically within the pipeline to the final building; Step S6: The transport vehicle is precisely positioned and connected with the indoor delivery subsystem of the destination building. The indoor delivery subsystem unloads the goods from the transport vehicle and transports them to the final receiving point. Step S7: The Internet communication support subsystem sends a goods delivery notification to the user.

7. The automated delivery method as described in claim 6, characterized in that, Step S2 specifically includes: S21: Parse the order information to obtain the pipeline network coordinates of the pickup point and the receiving point; S22: Obtain real-time status information of the pipeline network, including the location, status and power of each transport vehicle, as well as the vehicle traffic density of each pipeline segment. S23: The real-time status information is processed by a vehicle scheduling algorithm. With the goal of minimizing the overall delivery time or energy consumption, a target transport vehicle is selected and locked from the set of idle vehicles. The vehicle scheduling algorithm makes a decision based on at least one of the following constraints: the distance between the vehicle and the pickup point, whether the vehicle has enough remaining power to complete the task, and whether assigning the vehicle will help alleviate pipeline network congestion. S24: Using a path planning algorithm, calculate an optimal path for the target transport vehicle in the pipeline network map based on the coordinates of the pickup point and the receiving point; S25: Send the task instruction and the optimal route data to the target transport vehicle.

8. The automated delivery method as described in claim 6, characterized in that, The "precise positioning and connection" in steps S4 and S6 specifically refers to: By using RFID tags or visual markers installed inside the pipeline, in conjunction with corresponding readers or sensors on the transport vehicle and vertical transport device, millimeter-level alignment between the parking position of the transport vehicle and the descent position of the vertical transport device can be achieved.

9. The automated delivery method for small parcels in urban logistics as described in claim 6, characterized in that, In step S4, "the indoor delivery subsystem loads goods from the pickup point to the transport vehicle" is the reverse process of steps S61 to S66, specifically including: The cargo gripping and releasing device removes the standard delivery box loaded with goods from the receiving box at the pickup point, and transfers and places it into the cargo compartment of the transport vehicle with the box door open and the lifting device in the lifting state; then the lifting device lowers and resets, the cargo gripping and releasing device is de-energized, released and removed, and the opening and closing box door is closed.

10. The automated delivery method as described in claim 6, characterized in that, The step S6, "the indoor delivery subsystem unloads the goods from the transport vehicle," specifically includes: S61: After the transport vehicle stops at the corresponding pipeline position of the loading and unloading platform of the terminal building and completes precise positioning, the opening and closing box door on the top of its box is opened; wherein the loading and unloading platform is set on the receiving point floor of the terminal building, and the loading and unloading platform is equipped with a receiving box that is driven to rotate circumferentially by a rotary motor. The receiving box is circumferentially divided into several receiving compartments, and each receiving compartment is equipped with an infrared sensor and a position sensor. A fixed picking position is set on one side of the loading and unloading platform. S62: The lifting device at the bottom of the transport vehicle lifts the standard delivery box carrying the goods upward, causing it to extend out of the opening and closing box door; S63: The cargo gripping and releasing device on the vertical transport device moves to a position that contacts the standard delivery box and is powered on, using magnetic force to hold the standard delivery box in place. S64: The cargo grabbing and placing device carries the standard delivery box up along the guide rail of the vertical transport device and moves to the preset receiving position of the loading and unloading platform; S65: The loading and unloading platform detects the storage status of goods in each receiving grid in real time through the position sensor in the receiving grid, locks the empty target receiving grid, and drives the receiving box to rotate circumferentially according to the signal of the position sensor, so as to rotate the empty target receiving grid to the receiving position directly opposite the goods grabbing and placing device. S66: The pushing mechanism of the cargo gripping and releasing device pushes the standard delivery box into the target receiving cell of the docking position, and then the cargo gripping and releasing device is powered off to release the standard delivery box and reset to the standby position; S67: The infrared sensor in the target receiving grid senses that a standard delivery box carrying goods has been stored in the current grid. Simultaneously, after confirming that the standard delivery box is in place through the position sensor, a goods storage completion signal is generated and sent to the control unit of the rotary motor. S68: The rotary motor drives the receiving box to rotate circumferentially according to the cargo storage completion signal, and rotates the target receiving grid containing the cargo to the preset retrieval position on one side of the loading and unloading platform; S69: After the indoor delivery subsystem confirms that the target receiving grid has been accurately positioned for picking up goods, it sends an unloading completion signal to the Internet communication support subsystem.

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